Denso RC5 Specifications download pdf (Page 285)

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Chapter 12 Robot Control Statements

12-9

DRIVE (Statement) [Conforms to SLIM]

Function

Executes the relative motion of each axis.

Format

DRIVE[<Pass start displacement> ](<Axis number>,<Relative movement

amount>)[,(<Axis number>,<Relative movement amount>)…][,<Motion

option>][,NEXT]

Explanation

This statement moves the axis designated by <Axis number> to the angle

(DEG) designated by <Relative movement amount>. If <Relative movement

amount> is positive, the designated axis moves in the positive direction and if

negative it moves in the negative direction.

To execute this command, you need to get an arm group involving a joint(s) to

be moved. If a same axis is designated several times the latest designation

becomes valid.

The value of <Path start displacement> is expressed using the radius of the

globe with the target position centered. If the motion instruction value is

entered, the robot proceeds to the next control. Designate the value in

millimeters. This value aims to change the pass start timing, and if the end of

the arm enters the globe, the robot does not always proceed to the next

control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

The SPEED, ACCEL, and DECEL options are available for <Motion option>.

Motion option Meaning

SPEED (or S) Designates the movement speed. The meaning is

the same as the JSPEED statement.

ACCEL Designates acceleration. The meaning is the same

as the JACCEL statement. However, deceleration

cannot be designated. Use the DECEL statement

to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the JDECEL statement.

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Denso RC5 Specifications Page 285

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